WO2011059295A3 - Robot cleaner and method for controlling same - Google Patents

Robot cleaner and method for controlling same Download PDF

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Publication number
WO2011059295A3
WO2011059295A3 PCT/KR2010/008097 KR2010008097W WO2011059295A3 WO 2011059295 A3 WO2011059295 A3 WO 2011059295A3 KR 2010008097 W KR2010008097 W KR 2010008097W WO 2011059295 A3 WO2011059295 A3 WO 2011059295A3
Authority
WO
WIPO (PCT)
Prior art keywords
sub
areas
robot cleaner
cleaned
controlling same
Prior art date
Application number
PCT/KR2010/008097
Other languages
French (fr)
Korean (ko)
Other versions
WO2011059295A2 (en
Inventor
전형신
Original Assignee
엘지전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to EP16156547.8A priority Critical patent/EP3061377B8/en
Priority to EP10830227.4A priority patent/EP2502539B1/en
Priority to EP16163358.1A priority patent/EP3066967B1/en
Priority to EP16163334.2A priority patent/EP3081132B1/en
Priority to US13/508,961 priority patent/US8880271B2/en
Priority to EP16156551.0A priority patent/EP3061378B1/en
Priority to EP16163321.9A priority patent/EP3066966B8/en
Publication of WO2011059295A2 publication Critical patent/WO2011059295A2/en
Publication of WO2011059295A3 publication Critical patent/WO2011059295A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

Disclosed are a robot cleaner and a method for controlling same. The robot cleaner and method of the present invention involve dividing the whole area to be cleaned into sub-areas, and easily calculating a full path using the travel path in the sub-areas and connection points between sub-areas, and in the event the whole area to be cleaned is extended or an area which has not been cleaned is found, do not involve regenerating the whole map for cleaning, but rather easily updating the full path using the prestored travel path in the sub-areas and the connection points between sub-areas.
PCT/KR2010/008097 2009-11-16 2010-11-16 Robot cleaner and method for controlling same WO2011059295A2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
EP16156547.8A EP3061377B8 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP10830227.4A EP2502539B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling same
EP16163358.1A EP3066967B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP16163334.2A EP3081132B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
US13/508,961 US8880271B2 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP16156551.0A EP3061378B1 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same
EP16163321.9A EP3066966B8 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0110433 2009-11-16
KR1020090110433A KR101626984B1 (en) 2009-11-16 2009-11-16 Robot cleaner and controlling method of the same

Publications (2)

Publication Number Publication Date
WO2011059295A2 WO2011059295A2 (en) 2011-05-19
WO2011059295A3 true WO2011059295A3 (en) 2011-11-03

Family

ID=43992266

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/008097 WO2011059295A2 (en) 2009-11-16 2010-11-16 Robot cleaner and method for controlling same

Country Status (5)

Country Link
US (1) US8880271B2 (en)
EP (6) EP3061378B1 (en)
KR (1) KR101626984B1 (en)
DE (5) DE202010018397U1 (en)
WO (1) WO2011059295A2 (en)

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KR102093177B1 (en) * 2013-10-31 2020-03-25 엘지전자 주식회사 Moving Robot and operating method
US9504367B2 (en) 2013-11-20 2016-11-29 Samsung Electronics Co., Ltd. Cleaning robot and method for controlling the same
KR102527645B1 (en) * 2014-08-20 2023-05-03 삼성전자주식회사 Cleaning robot and controlling method thereof
US11400595B2 (en) * 2015-01-06 2022-08-02 Nexus Robotics Llc Robotic platform with area cleaning mode
CN105824310B (en) * 2015-01-08 2018-10-19 江苏美的清洁电器股份有限公司 The ambulation control method and robot of robot
AU2016253435B2 (en) 2015-04-24 2021-02-18 Avidbots Corp. Apparatus and methods for semi-autonomous cleaning of surfaces
DE102015109775B3 (en) 2015-06-18 2016-09-22 RobArt GmbH Optical triangulation sensor for distance measurement
DE102015114883A1 (en) 2015-09-04 2017-03-09 RobArt GmbH Identification and localization of a base station of an autonomous mobile robot
DE102015119501A1 (en) 2015-11-11 2017-05-11 RobArt GmbH Subdivision of maps for robot navigation
DE102015121666B3 (en) 2015-12-11 2017-05-24 RobArt GmbH Remote control of a mobile, autonomous robot
DE102016102644A1 (en) 2016-02-15 2017-08-17 RobArt GmbH Method for controlling an autonomous mobile robot
CN106292662A (en) * 2016-08-09 2017-01-04 衣佳鑫 Robot trajectory's method for drafting and system
KR101849972B1 (en) 2016-12-27 2018-05-31 엘지전자 주식회사 Robot cleaner and method for controlling the saem
US11709489B2 (en) 2017-03-02 2023-07-25 RobArt GmbH Method for controlling an autonomous, mobile robot
DE102017104690A1 (en) 2017-03-07 2018-09-13 Miele & Cie. Kg A display device for a robotic vacuum cleaner, robotic vacuum cleaner with a display device and method for operating a display device
US10353399B2 (en) * 2017-07-21 2019-07-16 AI Incorporated Polymorphic path planning for robotic devices
CN107515602A (en) * 2017-07-27 2017-12-26 无锡昊瑜节能环保设备有限公司 A kind of wireless charging control method of energy-saving sweeping robot
CN108209741B (en) * 2017-08-30 2020-05-26 深圳乐动机器人有限公司 Cleaning robot control method and cleaning robot
CN107977003B (en) * 2017-11-28 2020-07-31 深圳市杉川机器人有限公司 Area cleaning method and device
CN108415419A (en) * 2018-01-24 2018-08-17 达闼科技（北京）有限公司 Rubbish pick-up method, robot, electronic equipment and computer program product
KR102106100B1 (en) * 2018-02-02 2020-05-06 엘지전자 주식회사 Moving robot
CN110442123B (en) * 2018-05-03 2022-08-05 南宁富联富桂精密工业有限公司 Cleaning robot, cleaning method, environment monitoring method, and computer storage medium
CN108776478B (en) * 2018-06-05 2021-05-07 北京智行者科技有限公司 Planning method of operation path
KR102090590B1 (en) 2018-06-08 2020-04-23 엘지전자 주식회사 Robot of moving waypoints based on obstace avoidance and method of moving
US11613041B1 (en) 2018-11-08 2023-03-28 Scepaniak IP Holdings, LLC Coping nailer
US11214967B1 (en) 2018-11-08 2022-01-04 Scepaniak IP Holdings, LLC Roof rock spreader
CN111185899B (en) * 2018-11-14 2022-05-13 苏州科瓴精密机械科技有限公司 Robot control method and robot system
CN111061270B (en) * 2019-12-18 2023-12-29 深圳拓邦股份有限公司 Full coverage method, system and operation robot
CN113556679A (en) * 2020-04-24 2021-10-26 苏州科瓴精密机械科技有限公司 Method and system for generating virtual boundary of working area of self-moving robot, self-moving robot and readable storage medium
CN111238854B (en) * 2020-04-28 2020-08-04 浙江欣奕华智能科技有限公司 Method, device, equipment and medium for determining coverage rate of sweeping robot
CN111557622B (en) * 2020-04-30 2021-10-26 深圳拓邦股份有限公司 Cleaning path generation method and device, computer device and storage device
CN113252026B (en) * 2021-06-03 2021-10-08 炬星科技（深圳）有限公司 Cross-scene navigation method, equipment and storage medium
CN113974494B (en) * 2021-11-02 2022-11-22 微思机器人(深圳)有限公司 Route planning method and device, sweeping robot and storage medium
CN114594761B (en) * 2022-01-05 2023-03-24 美的集团(上海)有限公司 Path planning method for robot, electronic device and computer-readable storage medium

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JP2004185586A (en) * 2002-12-04 2004-07-02 Toshitoki Inoue Self-propelled robot and its control method
JP2005205028A (en) * 2004-01-23 2005-08-04 Sharp Corp Self-propelled vacuum cleaner
KR20090077547A (en) * 2008-01-11 2009-07-15 삼성전자주식회사 Method and apparatus of path planning for a mobile robot
KR20090104393A (en) * 2008-03-31 2009-10-06 엘지전자 주식회사 Controlling method of robot cleaner

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AU767561B2 (en) * 2001-04-18 2003-11-13 Samsung Kwangju Electronics Co., Ltd. Robot cleaner, system employing the same and method for reconnecting to external recharging device
JP2004237075A (en) * 2003-02-06 2004-08-26 Samsung Kwangju Electronics Co Ltd Robot cleaner system provided with external charger and connection method for robot cleaner to external charger
KR100485696B1 (en) * 2003-02-07 2005-04-28 삼성광주전자 주식회사 Location mark detecting method for a robot cleaner and a robot cleaner using the same method
KR100641113B1 (en) * 2004-07-30 2006-11-02 엘지전자 주식회사 Mobile robot and his moving control method
KR20060112312A (en) * 2005-04-25 2006-11-01 엘지전자 주식회사 Power saving control appratus and method for robot cleaner
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Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2004185586A (en) * 2002-12-04 2004-07-02 Toshitoki Inoue Self-propelled robot and its control method
JP2005205028A (en) * 2004-01-23 2005-08-04 Sharp Corp Self-propelled vacuum cleaner
KR20090077547A (en) * 2008-01-11 2009-07-15 삼성전자주식회사 Method and apparatus of path planning for a mobile robot
KR20090104393A (en) * 2008-03-31 2009-10-06 엘지전자 주식회사 Controlling method of robot cleaner

Also Published As

Publication number Publication date
EP3066966B8 (en) 2021-09-15
EP2502539B1 (en) 2021-08-04
KR101626984B1 (en) 2016-06-02
WO2011059295A2 (en) 2011-05-19
EP3061378B1 (en) 2021-08-25
EP3081132B1 (en) 2021-08-25
EP3061377A1 (en) 2016-08-31
DE202010018397U1 (en) 2016-05-04
KR20110053764A (en) 2011-05-24
EP3061378A1 (en) 2016-08-31
EP3061377B8 (en) 2021-09-15
EP2502539A4 (en) 2016-08-31
DE202010018400U1 (en) 2016-05-04
US20120232738A1 (en) 2012-09-13
EP3066967A1 (en) 2016-09-14
EP3066967B1 (en) 2021-08-18
EP3066966B1 (en) 2021-08-11
US8880271B2 (en) 2014-11-04
EP3081132A1 (en) 2016-10-19
DE202010018399U1 (en) 2016-05-02
EP3061377B1 (en) 2021-08-11
EP3066966A1 (en) 2016-09-14
DE202010018396U1 (en) 2016-05-04
DE202010018398U1 (en) 2016-04-29
EP2502539A2 (en) 2012-09-26

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